OpenRaiser/Intern-Atlas huggingface dataset:
M2CURL: Sample-Efficient Multimodal Reinforcement Learning via Self-Supervised Representation Learning for Robotic Manipulation
Venue: arXiv cs.RO 2024
Year: 2024

One of the most critical aspects of multimodal Reinforcement Learning (RL) is the effective integration of different observation modalities. Having robust and accurate representations derived from these modalities is key to enhancing the robustness and sample efficiency of RL algorithms. However, learning representations in RL settings for visuotactile data poses significant challenges, particularly due to the high dimensionality of the data and the complexity involved in correlating visual and tactile inputs with the dynamic environment and task objectives. To address these challenges, we propose Multimodal Contrastive Unsupervised Reinforcement Learning (M2CURL). Our approach employs a novel multimodal self-supervised learning technique that learns efficient representations and contributes to faster convergence of RL algorithms. Our method is agnostic to the RL algorithm, thus enabling its integration with any available RL algorithm. We evaluate M2CURL on the Tactile Gym 2 simulator and we show that it significantly enhances the learning efficiency in different manipulation tasks. This is evidenced by faster convergence rates and higher cumulative rewards per episode, compared to standard RL algorithms without our representation learning approach.
Towards Assessing the Synthetic-to-Measured Adversarial Vulnerability of SAR ATR
Venue: arXiv cs.CV 2024
Year: 2024

Recently, there has been increasing concern about the vulnerability of deep neural network (DNN)-based synthetic aperture radar (SAR) automatic target recognition (ATR) to adversarial attacks, where a DNN could be easily deceived by clean input with imperceptible but aggressive perturbations. This paper studies the synthetic-to-measured (S2M) transfer setting, where an attacker generates adversarial perturbation based solely on synthetic data and transfers it against victim models trained with measured data. Compared with the current measured-to-measured (M2M) transfer setting, our approach does not need direct access to the victim model or the measured SAR data. We also propose the transferability estimation attack (TEA) to uncover the adversarial risks in this more challenging and practical scenario. The TEA makes full use of the limited similarity between the synthetic and measured data pairs for blind estimation and optimization of S2M transferability, leading to feasible surrogate model enhancement without mastering the victim model and data. Comprehensive evaluations based on the publicly available synthetic and measured paired labeled experiment (SAMPLE) dataset demonstrate that the TEA outperforms state-of-the-art methods and can significantly enhance various attack algorithms in computer vision and remote sensing applications. Codes and data are available at https://github.com/scenarri/S2M-TEA.
Ultra-low power sensor devices for monitoring physical activity and respiratory frequency in farmed fish
Venue: arXiv cs.CE 2024
Year: 2024

Integration of technological solutions aims to improve accuracy, precision and repeatability in farming operations, and biosensor devices are increasingly used for understanding basic biology during livestock production. The aim of this study was to design and validate a miniaturized tri-axial accelerometer for non-invasive monitoring of farmed fish with re-programmable schedule protocols.The device was attached to the operculum of gilthead sea bream and European sea bass juveniles for monitoring their physical activity by measurements of movement accelerations in x and y-axes, while records of operculum beats served as a measurement of respiratory frequency. Data post-processing of exercised fish in swimming test chambers revealed an exponential increase of fish accelerations with the increase of fish speed from 1 body-length to 4 body-lengths per second, while a close relationship between oxygen consumption and opercular frequency was consistently found.The usefulness of low computational load for data pre-processing with on-board algorithms was verified from low to submaximal exercise, increasing this procedure the autonomy of the system up to 6 h of data recording with different programmable schedules. Visual observations regarding tissue damage, feeding behavior and circulating levels of stress markers did not reveal at short term a negative impact of device tagging. Reduced plasma levels of triglycerides revealed a transient inhibition of feed intake in small fish, but this disturbance was not detected in larger fish. All this considered together is the proof of concept that miniaturized devices are suitable for non-invasive and reliable metabolic phenotyping of farmed fish to improve their overall performance and welfare. Further work is underway for improving the attachment procedure and the full device packaging.
Non-central panorama indoor dataset
Venue: arXiv cs.DB 2024
Year: 2024

Omnidirectional images are one of the main sources of information for learning based scene understanding algorithms. However, annotated datasets of omnidirectional images cannot keep the pace of these learning based algorithms development. Among the different panoramas and in contrast to standard central ones, non-central panoramas provide geometrical information in the distortion of the image from which we can retrieve 3D information of the environment [2]. However, due to the lack of commercial non-central devices, up until now there was no dataset of these kinds of panoramas. In this data paper, we present the first dataset of non-central panoramas for indoor scene understanding. The dataset is composed by {\bf 2574} RGB non-central panoramas taken in around 650 different rooms. Each panorama has associated a depth map and annotations to obtain the layout of the room from the image as a structural edge map, list of corners in the image, the 3D corners of the room and the camera pose. The images are taken from photorealistic virtual environments and pixel-wise automatically annotated.
Joint Semantic Communication and Target Sensing for 6G Communication System
Venue: arXiv cs.IT 2024
Year: 2024

This paper investigates the secure resource allocation for a downlink integrated sensing and communication system with multiple legal users and potential eavesdroppers. In the considered model, the base station (BS) simultaneously transmits sensing and communication signals through beamforming design, where the sensing signals can be viewed as artificial noise to enhance the security of communication signals. To further enhance the security in the semantic layer, the semantic information is extracted from the original information before transmission. The user side can only successfully recover the received information with the help of the knowledge base shared with the BS, which is stored in advance. Our aim is to maximize the sum semantic secrecy rate of all users while maintaining the minimum quality of service for each user and guaranteeing overall sensing performance. To solve this sum semantic secrecy rate maximization problem, an iterative algorithm is proposed using the alternating optimization method. The simulation results demonstrate the superiority of the proposed algorithm in terms of secure semantic communication and reliable detection.
A Bearing-Angle Approach for Unknown Target Motion Analysis Based on Visual Measurements
Venue: arXiv cs.RO 2024
Year: 2024

Vision-based estimation of the motion of a moving target is usually formulated as a bearing-only estimation problem where the visual measurement is modeled as a bearing vector. Although the bearing-only approach has been studied for decades, a fundamental limitation of this approach is that it requires extra lateral motion of the observer to enhance the target's observability. Unfortunately, the extra lateral motion conflicts with the desired motion of the observer in many tasks. It is well-known that, once a target has been detected in an image, a bounding box that surrounds the target can be obtained. Surprisingly, this common visual measurement especially its size information has not been well explored up to now. In this paper, we propose a new bearing-angle approach to estimate the motion of a target by modeling its image bounding box as bearing-angle measurements. Both theoretical analysis and experimental results show that this approach can significantly enhance the observability without relying on additional lateral motion of the observer. The benefit of the bearing-angle approach comes with no additional cost because a bounding box is a standard output of object detection algorithms. The approach simply exploits the information that has not been fully exploited in the past. No additional sensing devices or special detection algorithms are required.
An Open Software Suite for Event-Based Video
Venue: arXiv cs.MM 2024
Year: 2024

While traditional video representations are organized around discrete image frames, event-based video is a new paradigm that forgoes image frames altogether. Rather, pixel samples are temporally asynchronous and independent of one another. Until now, researchers have lacked a cohesive software framework for exploring the representation, compression, and applications of event-based video. I present the AD$Δ$ER software suite to fill this gap. This framework includes utilities for transcoding framed and multimodal event-based video sources to a common representation, rate control mechanisms, lossy compression, application support, and an interactive GUI for transcoding and playback. In this paper, I describe these various software components and their usage.
Nested Construction of Polar Codes via Transformers
Venue: arXiv cs.IT 2024
Year: 2024

Tailoring polar code construction for decoding algorithms beyond successive cancellation has remained a topic of significant interest in the field. However, despite the inherent nested structure of polar codes, the use of sequence models in polar code construction is understudied. In this work, we propose using a sequence modeling framework to iteratively construct a polar code for any given length and rate under various channel conditions. Simulations show that polar codes designed via sequential modeling using transformers outperform both 5G-NR sequence and Density Evolution based approaches for both AWGN and Rayleigh fading channels.
MouSi: Poly-Visual-Expert Vision-Language Models
Venue: arXiv cs.CV 2024
Year: 2024

Current large vision-language models (VLMs) often encounter challenges such as insufficient capabilities of a single visual component and excessively long visual tokens. These issues can limit the model's effectiveness in accurately interpreting complex visual information and over-lengthy contextual information. Addressing these challenges is crucial for enhancing the performance and applicability of VLMs. This paper proposes the use of ensemble experts technique to synergizes the capabilities of individual visual encoders, including those skilled in image-text matching, OCR, image segmentation, etc. This technique introduces a fusion network to unify the processing of outputs from different visual experts, while bridging the gap between image encoders and pre-trained LLMs. In addition, we explore different positional encoding schemes to alleviate the waste of positional encoding caused by lengthy image feature sequences, effectively addressing the issue of position overflow and length limitations. For instance, in our implementation, this technique significantly reduces the positional occupancy in models like SAM, from a substantial 4096 to a more efficient and manageable 64 or even down to 1. Experimental results demonstrate that VLMs with multiple experts exhibit consistently superior performance over isolated visual encoders and mark a significant performance boost as more experts are integrated. We have open-sourced the training code used in this report. All of these resources can be found on our project website.
Semantic Forwarding for Next Generation Relay Networks
Venue: arXiv cs.IT 2024
Year: 2024

We consider cooperative semantic text communications facilitated by a relay node. We propose two types of semantic forwarding: semantic lossy forwarding (SLF) and semantic predict-and-forward (SPF). Both are machine learning aided approaches, and, in particular, utilize attention mechanisms at the relay to establish a dynamic semantic state, updated upon receiving a new source signal. In the SLF model, the semantic state is used to decode the received source signal; whereas in the SPF model, it is used to predict the next source signal, enabling proactive forwarding. Our proposed forwarding schemes do not need any channel state information and exhibit consistent performance regardless of the relay's position. Our results demonstrate that the proposed semantic forwarding techniques outperform conventional semantic-agnostic baselines.
Sharing delay costs in stochastic scheduling problems with delays
Venue: arXiv cs.GT 2024
Year: 2024

An important problem in project management is determining ways to distribute amongst activities the costs that are incurred when a project is delayed because some activities end later than expected. In this study, we address this problem in stochastic projects, where the durations of activities are unknown but their corresponding probability distributions are known. We propose and characterise an allocation rule based on the Shapley value, illustrate its behaviour by using examples, and analyse features of its calculation for large problems.
Supporting Meta-model-based Language Evolution and Rapid Prototyping with Automated Grammar Optimization
Venue: arXiv cs.SE 2024
Year: 2024

In model-driven engineering, developing a textual domain-specific language (DSL) involves constructing a meta-model, which defines an underlying abstract syntax, and a grammar, which defines the concrete syntax for the DSL. Language workbenches such as Xtext allow the grammar to be automatically generated from the meta-model, yet the generated grammar usually needs to be manually optimized to improve its usability. When the meta-model changes during rapid prototyping or language evolution, it can become necessary to re-generate the grammar and optimize it again, causing repeated effort and potential for errors. In this paper, we present GrammarOptimizer, an approach for optimizing generated grammars in the context of meta-model-based language evolution. To reduce the effort for language engineers during rapid prototyping and language evolution, it offers a catalog of configurable grammar optimization rules. Once configured, these rules can be automatically applied and re-applied after future evolution steps, greatly reducing redundant manual effort. In addition, some of the supported optimizations can globally change the style of concrete syntax elements, further significantly reducing the effort for manual optimizations. The grammar optimization rules were extracted from a comparison of generated and existing, expert-created grammars, based on seven available DSLs.
Camouflage Adversarial Attacks on Multiple Agent Systems
Venue: arXiv cs.MA 2024
Year: 2024

The multi-agent reinforcement learning systems (MARL) based on the Markov decision process (MDP) have emerged in many critical applications. To improve the robustness/defense of MARL systems against adversarial attacks, the study of various adversarial attacks on reinforcement learning systems is very important. Previous works on adversarial attacks considered some possible features to attack in MDP, such as the action poisoning attacks, the reward poisoning attacks, and the state perception attacks. In this paper, we propose a brand-new form of attack called the camouflage attack in the MARL systems. In the camouflage attack, the attackers change the appearances of some objects without changing the actual objects themselves; and the camouflaged appearances may look the same to all the targeted recipient (victim) agents. The camouflaged appearances can mislead the recipient agents to misguided actions. We design algorithms that give the optimal camouflage attacks minimizing the rewards of recipient agents. Our numerical and theoretical results show that camouflage attacks can rival the more conventional, but likely more difficult state perception attacks. We also investigate cost-constrained camouflage attacks and showed numerically how cost budgets affect the attack performance.
Superiority of Multi-Head Attention in In-Context Linear Regression
Venue: arXiv cs.LG 2024
Year: 2024

We present a theoretical analysis of the performance of transformer with softmax attention in in-context learning with linear regression tasks. While the existing literature predominantly focuses on the convergence of transformers with single-/multi-head attention, our research centers on comparing their performance. We conduct an exact theoretical analysis to demonstrate that multi-head attention with a substantial embedding dimension performs better than single-head attention. When the number of in-context examples D increases, the prediction loss using single-/multi-head attention is in O(1/D), and the one for multi-head attention has a smaller multiplicative constant. In addition to the simplest data distribution setting, we consider more scenarios, e.g., noisy labels, local examples, correlated features, and prior knowledge. We observe that, in general, multi-head attention is preferred over single-head attention. Our results verify the effectiveness of the design of multi-head attention in the transformer architecture.
A Preliminary Study on Using Large Language Models in Software Pentesting
Venue: arXiv cs.CR 2024
Year: 2024

Large language models (LLM) are perceived to offer promising potentials for automating security tasks, such as those found in security operation centers (SOCs). As a first step towards evaluating this perceived potential, we investigate the use of LLMs in software pentesting, where the main task is to automatically identify software security vulnerabilities in source code. We hypothesize that an LLM-based AI agent can be improved over time for a specific security task as human operators interact with it. Such improvement can be made, as a first step, by engineering prompts fed to the LLM based on the responses produced, to include relevant contexts and structures so that the model provides more accurate results. Such engineering efforts become sustainable if the prompts that are engineered to produce better results on current tasks, also produce better results on future unknown tasks. To examine this hypothesis, we utilize the OWASP Benchmark Project 1.2 which contains 2,740 hand-crafted source code test cases containing various types of vulnerabilities. We divide the test cases into training and testing data, where we engineer the prompts based on the training data (only), and evaluate the final system on the testing data. We compare the AI agent's performance on the testing data against the performance of the agent without the prompt engineering. We also compare the AI agent's results against those from SonarQube, a widely used static code analyzer for security testing. We built and tested multiple versions of the AI agent using different off-the-shelf LLMs -- Google's Gemini-pro, as well as OpenAI's GPT-3.5-Turbo and GPT-4-Turbo (with both chat completion and assistant APIs). The results show that using LLMs is a viable approach to build an AI agent for software pentesting that can improve through repeated use and prompt engineering.
Colony-Enhanced Recurrent Neural Architecture Search: Collaborative Ant-Based Optimization
Venue: arXiv cs.NE 2024
Year: 2024

Crafting neural network architectures manually is a formidable challenge often leading to suboptimal and inefficient structures. The pursuit of the perfect neural configuration is a complex task, prompting the need for a metaheuristic approach such as Neural Architecture Search (NAS). Drawing inspiration from the ingenious mechanisms of nature, this paper introduces Collaborative Ant-based Neural Topology Search (CANTS-N), pushing the boundaries of NAS and Neural Evolution (NE). In this innovative approach, ant-inspired agents meticulously construct neural network structures, dynamically adapting within a dynamic environment, much like their natural counterparts. Guided by Particle Swarm Optimization (PSO), CANTS-N's colonies optimize architecture searches, achieving remarkable improvements in mean squared error (MSE) over established methods, including BP-free CANTS, BP CANTS, and ANTS. Scalable, adaptable, and forward-looking, CANTS-N has the potential to reshape the landscape of NAS and NE. This paper provides detailed insights into its methodology, results, and far-reaching implications.
Pixel to Elevation: Learning to Predict Elevation Maps at Long Range using Images for Autonomous Offroad Navigation
Venue: arXiv cs.RO 2024
Year: 2024

Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse measurements when mapping at greater distances. To address this challenge, we present a novel learning-based approach capable of predicting terrain elevation maps at long-range using only onboard egocentric images in real-time. Our proposed method is comprised of three main elements. First, a transformer-based encoder is introduced that learns cross-view associations between the egocentric views and prior bird-eye-view elevation map predictions. Second, an orientation-aware positional encoding is proposed to incorporate the 3D vehicle pose information over complex unstructured terrain with multi-view visual image features. Lastly, a history-augmented learn-able map embedding is proposed to achieve better temporal consistency between elevation map predictions to facilitate the downstream navigational tasks. We experimentally validate the applicability of our proposed approach for autonomous offroad robotic navigation in complex and unstructured terrain using real-world offroad driving data. Furthermore, the method is qualitatively and quantitatively compared against the current state-of-the-art methods. Extensive field experiments demonstrate that our method surpasses baseline models in accurately predicting terrain elevation while effectively capturing the overall terrain topology at long-ranges. Finally, ablation studies are conducted to highlight and understand the effect of key components of the proposed approach and validate their suitability to improve offroad robotic navigation capabilities.
STAR: An Efficient Softmax Engine for Attention Model with RRAM Crossbar
Venue: arXiv cs.AR 2024
Year: 2024

RRAM crossbars have been studied to construct in-memory accelerators for neural network applications due to their in-situ computing capability. However, prior RRAM-based accelerators show efficiency degradation when executing the popular attention models. We observed that the frequent softmax operations arise as the efficiency bottleneck and also are insensitive to computing precision. Thus, we propose STAR, which boosts the computing efficiency with an efficient RRAM-based softmax engine and a fine-grained global pipeline for the attention models. Specifically, STAR exploits the versatility and flexibility of RRAM crossbars to trade off the model accuracy and hardware efficiency. The experimental results evaluated on several datasets show STAR achieves up to 30.63x and 1.31x computing efficiency improvements over the GPU and the state-of-the-art RRAM-based attention accelerators, respectively.